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Set - 05 - 2023ht30061 Akash Gonjari - Robotics Lab Exam

The document contains the lab exam report submitted by a student. It includes two questions on forward and inverse kinematics of manipulators. For each question, it provides the problem statement, MATLAB code for the solution both as a function and a script, and screenshots of the MATLAB editor and command window output.

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Akash Gonjari
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47 views

Set - 05 - 2023ht30061 Akash Gonjari - Robotics Lab Exam

The document contains the lab exam report submitted by a student. It includes two questions on forward and inverse kinematics of manipulators. For each question, it provides the problem statement, MATLAB code for the solution both as a function and a script, and screenshots of the MATLAB editor and command window output.

Uploaded by

Akash Gonjari
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lab Exam Report

Submitted in fulfillment of the requirements of


DEZG561- Mechanisms and Robotics

(Assignment)
By
Name: Akash Sanjay Gonjari

(ID NO: 2023HT30061)

BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, PILANI


CAMPUS
Second Semester 2023-2024
Question 1 Problem Statement

Objective of the Analysis:


To write a MATLAB function to find the tool point for the manipulator shown in the figure above.

MATLAB procedure and results


To write a MATLAB function file for the above problem, we first need to write the forward kinematic
equation of the manipulator.

Forward Kinematic Equation is given by

P = transz(d1)*transx(L1)*rotz(θ2)*transx(L2)*rotz(θ3)*transx(L3)*rotz(90)*rotx(90)*O

Where O = [0 0 0 1]T and P = [Px Py Pz 1]T

The code for function file for finding the tool point of the above manipulator is as below

function [P0,P1,P2,P3,P] = manipulatortoolpoint(O,L1,L2,L3,D1,theta2,theta3)

P =
transz(D1)*transx(L1)*rotz(theta2)*transx(L2)*rotz(theta3)*transx(L3)*rotz(90)*rotx(90)
*O;
P0 = O;
P1 = transz(D1)*O;
P2 = transz(D1)*transx(L1)*O;
P3 = transz(D1)*transx(L1)*rotz(theta2)*transx(L2)*O;

end
For the function manipulatortoolpoint ,

The inputs are

• O (origin)
• L1 (Length of link, constant)
• L2 (Length of link, constant)
• L3 (Length of link, constant)
• D1 (displacement, variable)
• theta2 (rotation angle, variable)
• theta3 (rotation angle, variable)

The outputs are the points

• P0 (Origin)
• P1 (Intermediate Point)
• P2 (Intermediate Point)
• P3 (Intermediate Point)
• P (Tool Point)

To use the above defined function, we use the below program script

% Lab Exam Question 1 (Forward Kinematics)

clc
clear all

% For the given manipulator, constants are defined as follows


O = [0,0,0,1]';
L1 = 200;
L2 = 350;
L3 = 250;

% Enter the value of variables


D1 = input("Enter the value of D1 in mm:");
theta2 = input("Enter the value of theta2 in degree:");
theta3 = input("Enter the value of theta3 in degree:");

% Calculate the toolpoint and intermediate points using function


"manipulatortoolpoint"
[P0,P1,P2,P3,P] = manipulatortoolpoint(O,L1,L2,L3,D1,theta2,theta3);

X = [P0(1),P1(1),P2(1),P3(1),P(1)];
Y = [P0(2),P1(2),P2(2),P3(2),P(2)];
Z = [P0(3),P1(3),P2(3),P3(3),P(3)];

plot3(X,Y,Z,'--rs','LineWidth',2,...
'MarkerEdgeColor','k',...
'MarkerFaceColor','g',...
'MarkerSize',10)

hold on
Matlab Screenshots
Figure

1: Function file
Figure 2: Program Script
Result:

Figure 3: Command Window


Figure 4: Plot for home position with input D1=0, theta2 =0, theta3 =0 giving tool point as (800,0,0,)
Figure 5: Plots for 3 separate inputs on the same plot
Question 2 Problem Statement

Objective of the Analysis:


To write a MATLAB function to find d1 and θ2 for a given value of P for the manipulator shown in the
figure above.

MATLAB procedure and results


To write a MATLAB function file for the above problem, we first need to write the forward kinematic
equation of the manipulator.

Given robot is a Planar Manipulator. We take the plane of operation of the robot is XY Plane (X-
Horizontal, Y-Vertical).

Forward Kinematic Equation for the manipulator is given by

P = rotz(90)*rotx(90)*transz(d1)*rotz(90)*rotx(-90)*rotz(θ2)*transx(L2)*rotx(90)*O

Where O = [0 0 0 1]T and P = [Px Py 0 1]T

Solving the matrices, we get the following equations

Px = d1 + L2cos(θ2)

Py = L2sin (θ2)

From the above equations, we get

θ2 = sin-1(Py/L2) ------------------------------------------------ (1)

D1 = Px – L2cos(θ2) ----------------------------------------- (2)


θ2 and D1 can be determined using equations 1 and 2

Note:

• The manipulator, due to its geometry can work only in the XY plane (Planar manipulator)
• The manipulator, due to its geometry is assumed to be operating in the First and Fourth Quadrant
only
• In the first quadrant, the calculated value of θ2 is correct.
• In the fourth quadrant, actual θ2 will be 360 + θ2 obtained from equation 1

The function file for calculating D1 and θ2 for a given tool point and L2 for above manipulator is as below

function [theta2,d1] = planar_inv(L2,px,py)

if px>0 && py>0


theta2 = asind(py/L2) ; % Calculate angle theta2
d1 = px - L2*cosd(theta2) ; % Calculte distance d1
else if px>0 && py<0
theta2 = 360 + asind(py/L2); % Calculate angle theta2
d1 = px - L2*cosd(theta2) ; % Calculte distance d1
else
disp('The given coordinates are outside the work envelope of the manipulator');
end
end

The inputs are

• L2 (Length of link, constant)


• Px (x-coordinate of tool point)
• Py (y-coordinate of tool point)

The outputs are the points

• θ2
• D1

To use the above defined function, we use the below program script

(see next page)


% Lab Exam Question 2 Set 5 Planar Robot Inverse Kinematics
% Robot operates in the XY Plane (X Horizontal, Y vertical)
% Robot can only operate in the 1st Quadrant and 4th Quadrant
clc
clear all
L2 = input('Enter the length of link L2:');
px = input('Enter the X coordinate of the tool point (1st or 4th Quadrant
only):');
py = input('Enter the Y coordinate of the tool point (1st or 4th Quadrant only,
magnitude less than or equal to L2):');

[theta2,d1] = planar_inv(L2,px,py)

O = [0,0,0,1]';
P = rotz(90)*rotx(90)*transz(d1)*rotx(-90)*rotz(-
90)*rotz(theta2)*transx(L2)*rotx(90)*O;
P0 = O;
P1 = rotz(90)*rotx(90)*transz(d1)*rotx(-90)*rotz(-90)*O;

X = [P0(1),P1(1),P(1)];
Y = [P0(2),P1(2),P(2)];

plot(X,Y,'--rs','LineWidth',2,...
'MarkerEdgeColor','k',...
'MarkerFaceColor','g',...
'MarkerSize',10)

hold on
Matlab Screenshots

Figure 6: Function
Figure 7: Program
Figure 8: Command Window with results
Result:

Figure 9: Result for point in 1st quadrant


Figure 10: Result for point in 4th Quadrant
Result Plots:

Figure 11: Plots for various inputs on the same plot (inputs mentioned in square boxes)
Tutorial screenshots
Problem 1:

Figure 12: Without using Function


Figure 13: Defining function Rotz
Figure 14: Solution Using rotz function
Problem 2:

Figure 15: Problem 2 solution


Problem 3:

Figure 16: Problem 3 solution


Problem 4:
Figure 17: Problem 4 solution
Problem 5:
Figure 18: Problem 5 solution
Problem 6
Figure 19: Problem 6 program
Inverse Kinematic Problem 1
Figure 20: Inverse Kinematic Problem 1 solution
Inverse Kinematic Problem 2
Figure 21: Inverse Kinematic Problem 2 solution

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